笔记2017-6-22

1.std::ostringstream topic ;  topic << "image_raw"; pub[i] = n.advertise<sensor_msgs::Image>(topic.str(),100);

std::string tiopic(std::string("image_raw"));  topic = "camera" + std::to_string(i) +"/" + topic ;

ros::Rate loop_rate(15);

whlie(ros::ok()){

  ros::spinOnce();

  loop_rate.sleep();

}

ros::NodeHandle private_nh("~");                                                   //干嘛的

std::string devip;

private_nh.param("device_ip",devip,std::string(" "));

Autoware-master

computing                           data                         sensing                                socket                            system                        util

sensing->drviers-> camera : baumer   hexacam   pointgrey  vectacam     摄像头

sensing->drviers-> can : kvaser                                                                         can 总线

sensing->drviers-> gnss:                                                                                     定位系统

sensing->drviers-> imu:                                                                                        微惯性航姿

sensing->drivers-> lidar:      hokuyo    velodyne                                               激光

sensing->filters                                                                                                        好像处理点云   红绿灯的

sensing->fusion:calibration_camera_liar             points2image                scan2image                  融合信息

 sensing->polygon:                       points2polygon               

computing->perception(觉察)->detection(检查发觉)：cv_tracker(opencv 追踪) cv_tracker_msgs(追踪话题)  integrated_viewer(结合viewer)  lane_detector(车道检测)  lidar_tracker(雷达追踪)  road_wizard(路线向导) viewers()

computing->perception(觉察)->localization(定位):  autoware_connector (自动驾驶连接体)  gnss_localizer(gps定位) icp_localizer(应该是基站定位)   ndt_localizer (无损检测定位)    orb_localizer( opencv_orb 定位)

localization->gnss_localizer :  使用gps 的经度、纬度、高度 转化为地图的坐标发布出去    geo_pos_conv::llh_to_xyz(lat,lon,ele); 

AW = 6378137.0; //Semimajor Axis   椭圆半长轴          FW = 1.0/298.257222101;   几何扁率

发布  geometry_msgs::PoseStamped  pose;    

computing->planning